diff --git a/Firmware/RTK_Everywhere/Tasks.ino b/Firmware/RTK_Everywhere/Tasks.ino index 3a8489282..ffed475f9 100644 --- a/Firmware/RTK_Everywhere/Tasks.ino +++ b/Firmware/RTK_Everywhere/Tasks.ino @@ -479,7 +479,6 @@ void processUart1Message(SEMP_PARSE_STATE *parse, uint16_t type) // Handle LLA compensation due to tilt or outputTipAltitude setting if (type == RTK_NMEA_PARSER_INDEX) { - parse->buffer[parse->length++] = '\0'; // Null terminate string nmeaApplyCompensation((char *)parse->buffer, parse->length); } diff --git a/Firmware/RTK_Everywhere/Tilt.ino b/Firmware/RTK_Everywhere/Tilt.ino index 460add5ed..aee74da41 100644 --- a/Firmware/RTK_Everywhere/Tilt.ino +++ b/Firmware/RTK_Everywhere/Tilt.ino @@ -405,19 +405,12 @@ void tiltSensorFactoryReset() // and outputTipAltitude is disabled, then pass GNSS data without modification. See issues: // https://github.com/sparkfun/SparkFun_RTK_Everywhere_Firmware/issues/334 // https://github.com/sparkfun/SparkFun_RTK_Everywhere_Firmware/issues/343 -void nmeaApplyCompensation(char *nmeaSentence, int arraySize) +void nmeaApplyCompensation(char *nmeaSentence, int sentenceLength) { // If tilt is off, and outputTipAltitude is disabled, then pass GNSS data without modification if (tiltIsCorrecting() == false && settings.outputTipAltitude == false) return; - // Verify the sentence is null-terminated - if (strnlen(nmeaSentence, arraySize) == arraySize) - { - systemPrintln("Sentence is not null terminated!"); - return; - } - // Identify sentence type char sentenceType[strlen("GGA") + 1] = {0}; strncpy(sentenceType, &nmeaSentence[3], @@ -426,19 +419,19 @@ void nmeaApplyCompensation(char *nmeaSentence, int arraySize) // GGA and GNS sentences get modified in the same way if (strncmp(sentenceType, "GGA", sizeof(sentenceType)) == 0) { - applyCompensationGGA(nmeaSentence, arraySize); + applyCompensationGGA(nmeaSentence, sentenceLength); } else if (strncmp(sentenceType, "GNS", sizeof(sentenceType)) == 0) { - applyCompensationGNS(nmeaSentence, arraySize); + applyCompensationGNS(nmeaSentence, sentenceLength); } else if (strncmp(sentenceType, "RMC", sizeof(sentenceType)) == 0) { - applyCompensationRMC(nmeaSentence, arraySize); + applyCompensationRMC(nmeaSentence, sentenceLength); } else if (strncmp(sentenceType, "GLL", sizeof(sentenceType)) == 0) { - applyCompensationGLL(nmeaSentence, arraySize); + applyCompensationGLL(nmeaSentence, sentenceLength); } else { @@ -456,7 +449,7 @@ void nmeaApplyCompensation(char *nmeaSentence, int arraySize) // 1589.4793 is the orthometric height in meters (MSL reference) that we need to insert into the NMEA sentence // See issue: https://github.com/sparkfun/SparkFun_RTK_Everywhere_Firmware/issues/334 // https://support.virtual-surveyor.com/support/solutions/articles/1000261349-the-difference-between-ellipsoidal-geoid-and-orthometric-elevations- -void applyCompensationGNS(char *nmeaSentence, int arraySize) +void applyCompensationGNS(char *nmeaSentence, int sentenceLength) { const int latitudeComma = 2; const int longitudeComma = 4; @@ -477,7 +470,7 @@ void applyCompensationGNS(char *nmeaSentence, int arraySize) systemPrintf("Original GNGNS:\r\n%s\r\n", nmeaSentence); int commaCount = 0; - for (int x = 0; x < strnlen(nmeaSentence, arraySize); x++) // Assumes sentence is null terminated + for (int x = 0; x < strnlen(nmeaSentence, sentenceLength); x++) // Assumes sentence is null terminated { if (nmeaSentence[x] == ',') { @@ -525,7 +518,7 @@ void applyCompensationGNS(char *nmeaSentence, int arraySize) char newSentence[150] = {0}; - if (sizeof(newSentence) < arraySize) + if (sizeof(newSentence) < sentenceLength) { systemPrintln("newSentence not big enough!"); return; @@ -609,14 +602,14 @@ void applyCompensationGNS(char *nmeaSentence, int arraySize) // Add CRC strncat(newSentence, coordinateStringDDMM, sizeof(newSentence) - 1); - if (strlen(newSentence) > arraySize) + if (strlen(newSentence) > sentenceLength) { if (settings.enableImuCompensationDebug == true && !inMainMenu) - systemPrintf("New compensated sentence too long! Orig: %d New: %d\r\n", arraySize, strlen(newSentence)); + systemPrintf("New compensated sentence too long! Orig: %d New: %d\r\n", sentenceLength, strlen(newSentence)); } // Overwrite the original NMEA - strncpy(nmeaSentence, newSentence, arraySize); + strncpy(nmeaSentence, newSentence, sentenceLength); if (settings.enableImuCompensationDebug == true && !inMainMenu) systemPrintf("Compensated GNGNS:\r\n%s\r\n", nmeaSentence); @@ -625,7 +618,7 @@ void applyCompensationGNS(char *nmeaSentence, int arraySize) // Modify a GLL sentence with tilt compensation //$GNGLL,4005.4176871,N,10511.1034563,W,214210.00,A,A*68 - Original //$GNGLL,4005.41769994,N,10507.40740734,W,214210.00,A,A*6D - Modified -void applyCompensationGLL(char *nmeaSentence, int arraySize) +void applyCompensationGLL(char *nmeaSentence, int sentenceLength) { // GLL only needs to be changed in tilt mode if (tiltIsCorrecting() == false) @@ -646,7 +639,7 @@ void applyCompensationGLL(char *nmeaSentence, int arraySize) uint8_t checksumStart = 0; int commaCount = 0; - for (int x = 0; x < strnlen(nmeaSentence, arraySize); x++) // Assumes sentence is null terminated + for (int x = 0; x < strnlen(nmeaSentence, sentenceLength); x++) // Assumes sentence is null terminated { if (nmeaSentence[x] == ',') { @@ -674,7 +667,7 @@ void applyCompensationGLL(char *nmeaSentence, int arraySize) char newSentence[150] = {0}; - if (sizeof(newSentence) < arraySize) + if (sizeof(newSentence) < sentenceLength) { systemPrintln("newSentence not big enough!"); return; @@ -715,14 +708,14 @@ void applyCompensationGLL(char *nmeaSentence, int arraySize) // Add CRC strncat(newSentence, coordinateStringDDMM, sizeof(newSentence) - 1); - if (strlen(newSentence) > arraySize) + if (strlen(newSentence) > sentenceLength) { if (settings.enableImuCompensationDebug == true && !inMainMenu) - systemPrintf("New compensated sentence too long! Orig: %d New: %d\r\n", arraySize, strlen(newSentence)); + systemPrintf("New compensated sentence too long! Orig: %d New: %d\r\n", sentenceLength, strlen(newSentence)); } // Overwrite the original NMEA - strncpy(nmeaSentence, newSentence, arraySize); + strncpy(nmeaSentence, newSentence, sentenceLength); if (settings.enableImuCompensationDebug == true && !inMainMenu) systemPrintf("Compensated GNGLL:\r\n%s\r\n", nmeaSentence); @@ -731,7 +724,7 @@ void applyCompensationGLL(char *nmeaSentence, int arraySize) // Modify a RMC sentence with tilt compensation //$GNRMC,214210.00,A,4005.4176871,N,10511.1034563,W,0.000,,070923,,,A,V*04 - Original //$GNRMC,214210.00,A,4005.41769994,N,10507.40740734,W,0.000,,070923,,,A,V*01 - Modified -void applyCompensationRMC(char *nmeaSentence, int arraySize) +void applyCompensationRMC(char *nmeaSentence, int sentenceLength) { // RMC only needs to be changed in tilt mode if (tiltIsCorrecting() == false) @@ -752,7 +745,7 @@ void applyCompensationRMC(char *nmeaSentence, int arraySize) uint8_t checksumStart = 0; int commaCount = 0; - for (int x = 0; x < strnlen(nmeaSentence, arraySize); x++) // Assumes sentence is null terminated + for (int x = 0; x < strnlen(nmeaSentence, sentenceLength); x++) // Assumes sentence is null terminated { if (nmeaSentence[x] == ',') { @@ -780,7 +773,7 @@ void applyCompensationRMC(char *nmeaSentence, int arraySize) char newSentence[150] = {0}; - if (sizeof(newSentence) < arraySize) + if (sizeof(newSentence) < sentenceLength) { systemPrintln("newSentence not big enough!"); return; @@ -821,14 +814,14 @@ void applyCompensationRMC(char *nmeaSentence, int arraySize) // Add CRC strncat(newSentence, coordinateStringDDMM, sizeof(newSentence) - 1); - if (strlen(newSentence) > arraySize) + if (strlen(newSentence) > sentenceLength) { if (settings.enableImuCompensationDebug == true && !inMainMenu) - systemPrintf("New compensated sentence too long! Orig: %d New: %d\r\n", arraySize, strlen(newSentence)); + systemPrintf("New compensated sentence too long! Orig: %d New: %d\r\n", sentenceLength, strlen(newSentence)); } // Overwrite the original NMEA - strncpy(nmeaSentence, newSentence, arraySize); + strncpy(nmeaSentence, newSentence, sentenceLength); if (settings.enableImuCompensationDebug == true && !inMainMenu) systemPrintf("Compensated GNRMC:\r\n%s\r\n", nmeaSentence); @@ -843,7 +836,7 @@ void applyCompensationRMC(char *nmeaSentence, int arraySize) // 1602.3482 is the orthometric height in meters (MSL reference) that we need to insert into the NMEA sentence // See issue: https://github.com/sparkfun/SparkFun_RTK_Everywhere_Firmware/issues/334 // https://support.virtual-surveyor.com/support/solutions/articles/1000261349-the-difference-between-ellipsoidal-geoid-and-orthometric-elevations- -void applyCompensationGGA(char *nmeaSentence, int arraySize) +void applyCompensationGGA(char *nmeaSentence, int sentenceLength) { const int latitudeComma = 2; const int longitudeComma = 4; @@ -864,7 +857,7 @@ void applyCompensationGGA(char *nmeaSentence, int arraySize) systemPrintf("Original GNGGA:\r\n%s\r\n", nmeaSentence); int commaCount = 0; - for (int x = 0; x < strnlen(nmeaSentence, arraySize); x++) // Assumes sentence is null terminated + for (int x = 0; x < strnlen(nmeaSentence, sentenceLength); x++) // Assumes sentence is null terminated { if (nmeaSentence[x] == ',') { @@ -912,7 +905,7 @@ void applyCompensationGGA(char *nmeaSentence, int arraySize) char newSentence[150] = {0}; - if (sizeof(newSentence) < arraySize) + if (sizeof(newSentence) < sentenceLength) { systemPrintln("newSentence not big enough!"); return; @@ -996,14 +989,14 @@ void applyCompensationGGA(char *nmeaSentence, int arraySize) // Add CRC strncat(newSentence, coordinateStringDDMM, sizeof(newSentence) - 1); - if (strlen(newSentence) > arraySize) + if (strlen(newSentence) > sentenceLength) { if (settings.enableImuCompensationDebug == true && !inMainMenu) - systemPrintf("New compensated sentence too long! Orig: %d New: %d\r\n", arraySize, strlen(newSentence)); + systemPrintf("New compensated sentence too long! Orig: %d New: %d\r\n", sentenceLength, strlen(newSentence)); } // Overwrite the original NMEA - strncpy(nmeaSentence, newSentence, arraySize); + strncpy(nmeaSentence, newSentence, sentenceLength); if (settings.enableImuCompensationDebug == true && !inMainMenu) systemPrintf("Compensated GNGGA:\r\n%s\r\n", nmeaSentence);